Lift and turn drive unit

ABSTRACT

A lift and turn drive unit, comprising a working element which may be linearly displaced and rotated relative to at least one housing element, whereby the working element is formed from at least one lifting element and at least one turning element.

[0001] The present invention relates to a lifting/swiveling drive havinga working element which can move rotatably and linearly relative to atleast one housing element.

[0002] Lifting/swiveling drives of this kind are known commercially andare customary in diverse forms and designs. They are used in differentspheres essentially for carrying out an entirely determined liftingmovement, for example of a tool, with simultaneous or subsequentrotational movement in order to machine a certain workpiece or, forexample, to pick up a certain object and deposit it at another location.In this case, use is made in conventional lifting/swiveling drives of,for example, disk cam mechanisms which are subject to a high degree ofwear and are thereby imprecise.

[0003] Furthermore, lifting/swiveling drives of this type are very slowin operation and can therefore only be used to a limited extent duringproduction. For example, lifting/swiveling drives of this type are usedin the production of compact disks (CD) which, for the coating of theplastic carrier, have to be inserted into a corresponding device forthis. This insertion has to be able to take place very exactly,precisely and very rapidly. Manufacturing devices of this type are inoperation 24 hours a day and require long service lives at highvelocities. The precision is considerably impaired by the wear, which isdisadvantageous. The consequence of higher velocities is a higher degreeof wear and a higher breakdown rate, which is undesirable.

[0004] Furthermore, lifting/swiveling drives of this type can be used,for example, as “wafer handling” in the semiconductor industry. To date,it has not been possible to realize a hollow shaft with passagepossibilities to an adequate extent. The conventional hollow shaftdiameters of lifting/swiveling drives are too small.

[0005] It is also disadvantageous in conventional lifting/swivelingdrives that the latter are relatively large and do not have a verycompact construction, which is undesirable.

[0006] U.S. Pat. No. 5,404,983 discloses a lifting/swiveling drive whichis formed from two actuators connected one behind the other in series.The first actuator executes a linear movement and is coupled to thesecond actuator. The second actuator is an actuator which can be rotatedrotatively in order to drive a shaft rotatively.

[0007] EP 0 797 587A2 relates to a lifting/swiveling drive, a rotativeactuator driving an actuating rod rotatively. In order to carry out thelift, the rotative actuator is moved linearly to and fro by means of alinear actuator. In order to precisely define the linear movement, therotative actuator is guided on a guide rail.

[0008] The present invention is based on the object of providing alifting/swiveling drive of the type mentioned at the beginning whicheliminates the above-mentioned disadvantages and with which, inparticular, the precision, the velocities and accelerations of rotativeand linear type is [sic] to be considerably increased along with longerservice lives. Furthermore, a control of the linear and rotativemovement of the working element is to be possible in a highly preciseand exact manner. In addition, a lifting/swiveling drive of this type isto be universally universally [sic] producible in particular as regardsits overall sizes, its overall lengths and its diameter.

[0009] This object is achieved by the features of patent claims 1 and 2.

[0010] In the case of the present invention, reference is firstly madeto the functioning of the lifting/swiveling drive according to DE 100 25351.2. The present invention differs with respect thereto in that theworking element is formed from a lifting element and at least onerotational element. It is of essential importance, in the case of thepresent invention, that the rotational element is decoupled rotativelyrelative to the lifting element. At least one bearing element isinserted between lifting element and rotational element in order toensure the decoupling.

[0011] In a first exemplary embodiment, the lifting element, inparticular its lifting module, is only moved linearly to and frorelative to a housing element by means of a linear drive. A rotationalsleeve, in particular designed as a rotor, sits in a rotativelydecoupled manner on the lifting module via a bearing element inserted inbetween, the rotational sleeve of the rotational element beingrotatively driveable by means of a rotational drive.

[0012] The rotational drive is seated fixedly relative to a rotationaldrive housing which is immobile. The rotational sleeve is thereforedesigned to be longer by a lifting length in order to permit a liftingbalance.

[0013] In order to reduce the overall length, the lifting module canengage coaxially completely or at least partly around the rotationalelement, in particular the rotational sleeve or the rotational drivethereof. By this means, a short construction is realized. If, however,lifting element and rotational drive are arranged adjoining each otherdirectly behind each other, then a long, but cross-sectionallyrelatively small construction can be realized.

[0014] In a second exemplary embodiment of the present invention,lifting element and rotational element are arranged next to each otherand parallel and are connected to each other via a connecting plate or asupport element. In this case too, the rotational element or therotational sleeve is decoupled rotatively relative to the liftingelement or the lifting module via at least one bearing element. By meansof the parallel arrangement, a small overall length of thelifting/swiveling drive is likewise ensured.

[0015] In a last variant of the lifting/swiveling drive, a liftingbalance of the rotational element and of the rotational sleeve isomitted in that the entire rotational element together with rotationalsleeve, rotational drive and rotational drive housing is moved linearlyby means of the lifting element or lifting module. In this case, therotational drive housing which supports the rotational drive is seatedon the lifting module. The rotational sleeve, which is driven via therotational drive, is decoupled rotatively relative to the liftingelement via at least one bearing element, so that the lifting elementonly executes the linear movement and the rotational sleeve the rotativemovement. It is advantageous here that the entire length of thelifting/swiveling drive is shortened and [sic] at least one liftinglength.

[0016] At least one spring element can be inserted between a base plateof the housing element and the lifting element, for the damping of theend positions.

[0017] Furthermore, a measuring system for measuring the linear androtative movement is respectively assigned to the lifting element and tothe rotational element.

[0018] Also this embodiment that the complete rotational element ismoved linearly by means of the lifting element or lifting module can bearranged linearly one behind the other or arranged coaxially one insidethe other in the above-described manner [sic], so that the overalllength of the lifting/swiveling drive can be reduced. This is likewiseintended to be included within the scope of the present invention.

[0019] Further advantages, features and details of the invention emergefrom the following description of preferred exemplary embodiments andwith reference to the drawing, in which

[0020]FIG. 1 shows a schematically illustrated longitudinal sectionthrough a lifting/swiveling drive with lifting element and rotationalelement;

[0021]FIG. 2 shows a schematically illustrated longitudinal sectionthrough a further exemplary embodiment of the lifting/swiveling driveaccording to FIG. 1 with lifting element and rotational element;

[0022]FIG. 3 shows a schematically illustrated longitudinal sectionthrough a further exemplary embodiment of a lifting/swiveling drive withlifting element and rotational element in a parallel arrangement;

[0023]FIGS. 4a to 4 c show further longitudinal sections through furtherexemplary embodiments for further lifting/swiveling drives with liftingelement and rotational element in different arrangements;

[0024]FIG. 5 shows a schematically illustrated plan view of one possiblearrangement of a lifting element according to the lifting/swivelingdrive from FIG. 1.

[0025] According to FIG. 1, a lifting/swiveling drive R₂ according tothe invention has a housing element 1 in which a working element 2 ismounted. The working element 2 is formed from a lifting element 3, whichpermits a lifting movement of a lifting module 4 relative to the housingelement 1, and a rotational element 12. The lifting element 3 can bemoved along an axis A linearly, as illustrated in the double arrowdirection X, by means of a linear drive 5. The linear drive 5essentially comprises at least one primary part 6, which is assigned tothe lifting element 3, and a secondary part 7, which is connected to thehousing element 1. Furthermore, as is illustrated in particular in FIG.5, the lifting module 4 can be assigned a measuring system 8 whichmeasures a linear movement of the lifting module 4 relative to thehousing element 1 and, by this means, a linear movement can be exactlycontrolled.

[0026] Furthermore, FIG. 5 reveals that at least one linear guide 9 isarranged between housing element 1 and lifting element 3 in order topermit a linear movement of the lifting module 4 relative to the housingelement 1 in an exact and precise and, in particular, play-free manner.A plurality of linear guides or the like, bearing elements, guidecarriages or the like can be provided to ensure linear guidance of thelifting module 4 relative to the housing element 1. It can furthermorebe seen from FIG. 5 that a plurality of linear drives 5 having primaryparts 6 and secondary parts 7 in each case are provided in order to movethe lifting module 4 relative to the housing element 1 linearly alongthe axis A.

[0027] Furthermore, the lifting module 4 can also be assigned a massbalance 10 in order to convert the motor power which is available into ahigher acceleration or dynamics. It may also be conceivable, as emergesin particular in FIG. 1, to assign to the housing element 1 a pluralityof end position switches 11 which are spaced apart axially from oneanother in order in each case to recognize a maximum lift or the endpositions of the lift of the lifting element 3.

[0028] It is important in the case of the present exemplary embodimentthat the rotational element 12 adjoins the lifting element 3 on the endside in a linear manner, the rotational element 12 being designed as arotational sleeve 13. The rotational sleeve 13 or the rotational element12 likewise lies in the axis A of the lifting element 3 and adjoins itthere on the end side. The special feature of the present invention isthat the rotational element 12 or its rotational sleeve 13 is connectedto the lifting element 3, in particular to the lifting module 4, via abearing element 14 arranged in between. In this manner, a rotationalmovement of the rotational element 12 or of the rotational sleeve 13 isdecoupled relative to the lifting element 3. The lifting element 3 canbe moved linearly only along the double arrow direction X which isillustrated, the rotational element 12 being arranged in a manner suchthat it can be rotated about the axis A. In the present exemplaryembodiment, the rotational sleeve 13 is designed as a secondary part 7.The rotational sleeve 13 is at least partially surrounded coaxially by arotational drive 15 and is fixed relative to the housing element 1. Thesecondary part 7 or at least part of the rotational sleeve 13 can bedesigned as a permanent magnet. By this means, the rotational drive 15can be used to form a rotational motor which drives the rotationalsleeve 13 rotatively about the axis A. Any desired tool can be flangedonto the end side of said rotational sleeve 13 or any desired workpiececan be held thereon.

[0029] Furthermore, a measuring system 8 can likewise be assigned to therotational drive 15 in order to record and to control a rotativemovement. In the present exemplary embodiment, the housing element 1 isof two-part design, a rotational drive housing 16 being arranged withinthe housing element 1 and being mounted fixedly there. Said housingelement 1 is used for holding the rotational drive 15.

[0030] However, the scope of the present invention is also to includethe housing element 1 being of single-piece design.

[0031] A further advantage of the present lifting/swiveling drive R₁ isthat the latter can be designed to be cross-sectionally very small, buthas a certain length. The lift can be defined and set as desired.Lifting module 4 and rotational sleeve 13 are of a length L_(L) andL_(R), respectively, which length is determined from a length L₁ of therotational drive 15 and a lifting length L_(H) or from a length L2 ofthe secondary part 7 plus the lifting length L_(H).

[0032] If a greater lifting length L_(H) is desired, then liftingelement 3 or lifting module 4 and rotational element 12 or rotationalsleeve 13 have to be correspondingly lengthened in each case.

[0033] In the exemplary embodiment according to FIG. 2 alifting/swiveling drive R₂, which corresponds approximately to theabove-described manner, is shown. The difference is that the liftingmodule 4 at least partially engages coaxially around the rotationaldrive housing 16 when being raised or moved linearly, and saidrotational drive housing 16 or the rotational drive 15 can beaccommodated on the end side within the lifting module 4. By this means,a smaller overall length of the lifting/swiveling drive R₂ in comparisonwith rotational element 12 is ensured by the coaxial inter-engagement ormoving of lifting module 4 or lifting element 3. Although an overallwidth or overall cross section of the lifting/swiveling drive R₂increases, a smaller overall length can thereby be realized.

[0034] The rotational element 12 is mounted in a manner such that it islikewise rotatable, driveable and is decoupled rotatively relative tothe lifting element 3 or lifting module 4 via the bearing element 14.

[0035] In the case of the lifting/swiveling drive R₃, a small overalllength can likewise be realized by parallel arrangement of rotationalelement 12 and lifting element 3, as is illustrated in the exemplaryembodiment of the present invention according to FIG. 3. In this case,rotational element 12 and lifting element 3 are arranged parallel nextto each other, the rotational element 12 being rotatable about the axisA in the above-described manner, and the lifting element 3 beingmoveable linearly about an axis B, which lies parallel to axis A, in theabove-described manner by means of the linear drive 5. The end side ofthe lifting module 4 is adjoined by a connecting plate 17 which isconnected to a support element 18 which is mounted linearly with respectto the axis A. The rotational element 12 or the rotational sleeve 13 isseated on the support element 18 as part of the lifting module 4 orlifting element 3 in a decoupled manner via the bearing element 14. Inthis exemplary embodiment, the measuring system 8 for measuring therotative rotational movement of the rotational sleeve 13 adjoins the endside of the support element 18. By means of the parallel arrangement oflifting element 3 to rotational element 12, an extremely small overalllength of the lifting/swiveling drive R₃ can likewise be realized.

[0036] In a further exemplary embodiment of the present inventionaccording to FIG. 4a, the rotational drive housing 16 is connected tothe lifting module 4 in the case of a lifting/swiveling drive R₄. Bythis means, the complete rotational element 12 with rotational drive 15and rotational drive housing 16 can be raised via the lifting element 3or its lifting module 4. A lifting balance for the rotational drive 15,as has been described in the previous exemplary embodiments, is renderedsuperfluous. The rotational sleeve 13 or the rotational element 12 isrotatively decoupled relative to the lifting module 4 via the at leastone bearing element 14. In the above-described manner, the liftingmodule 4 or lifting element 3 can only move to and fro linearly alongthe axis A. However, the rotational sleeve 13 or the rotational element12 can only be rotated about the axis A in the above-described manner bymeans of the rotational drive 15.

[0037] A spring element 19 is preferably inserted [sic] within thelifting module 4, which spring element 19 is supported on the end sideat one end on the lifting module 4 and at the other end on a base plate20 of the housing element 1 in order preferably to ensure a balancing ofthe masses and, in the event of, for example, a current failure, toensure damping in particular in the end position region.

[0038] For example, in the case of a current failure, a lifting movementof the lifting module 4 toward the base plate 20 can be intercepted anddamped.

[0039]FIG. 4b shows a similar exemplary embodiment of alifting/swiveling drive R₅, in which, likewise in the above-describedmanner, the lifting module 4, which can be moved linearly along the axisA by means of the linear drive 5, supports the rotational drive housing16 in which the rotational drive 15 is fixedly arranged. The rotationalsleeve 13 of the rotational element 12 is rotatively decoupled via thebearing 14 and can be rotatively driven by means of the rotational drive15. The rotative measuring system 8 is seated on the lifting module 4 inthe vicinity of the bearing 14. In this manner, the complete rotationalelement 12 with rotational drive housing 16, rotational drive 15 androtational sleeve 13 can likewise be moved linearly via the liftingmodule 3 or lifting module 4. A lifting balance of the linear drive 5 isalso rendered superfluous here. Furthermore, it is advantageous that therotational sleeve 13 or rotational drive 15 is at least partiallyengaged over coaxially by the arrangement of the lifting module 4, inparticular of the linear drive 5, so that a short and compactconstruction of the lifting/swiveling drive R₅ can be realized in asimilar manner as illustrated in the exemplary embodiment according toFIG. 2. According to the exemplary embodiment of FIG. 4a, a springelement 19 is provided, which spring element is used essentially forbalancing of the masses and, for example in the event of a currentfailure, ensures damping of the lifting movement, in particular of theend position damping.

[0040] The strength of the mass balance 10/19 or of the spring element10/19, which can be assigned in all of the exemplary embodiments, isdesigned in accordance with the installation position of thelifting/swiveling drive, and said mass balance or spring element can beomitted, for example in a horizontal installation position.

[0041] In the exemplary embodiment according to FIG. 4c, the liftingmodule 4 engages virtually coaxially and completely over the rotationaldrive housing 16 in which the rotational drive 15 is fixed in theabove-described manner. The rotationally fixed linear drive 5 isprovided radially between lifting module 4 and housing element 1. In thepresent exemplary embodiment, as in the exemplary embodiments of FIGS.4a and 4 b, the rotational drive housing 16 is coupled to the liftingmodule 4 and the complete rotational element 12 can be moved linearlyalong the axis A by means of the lifting module 4. The rotational sleeve13 is rotatively decoupled relative to the lifting module 4 of thelifting element 3 via the bearing 14. Corresponding linear guides 9ensure a precise extension of the lifting element 4 out of the housingelement 1. By this means, an extremely short construction of thelifting/swiveling drive R₅ is made possible.

[0042] The lifting modules 4 are preferably of rectangular, square orpolygonal design in cross section and can only be moved linearly, all ofthe rotational sleeves preferably being of tubular design.

[0043] Lifting module 4 and rotational sleeve 13 are preferably designedas hollow shaft elements which ensure corresponding passages 21. In thiscase, lifting module 4 and rotational sleeve 13 are preferably situatedin one axis. By this means, a very large passage 21, when consideredcross-sectionally, for lines, electrical lines, pneumatic lines etc. canbe ensured. This is of great advantage in the present invention, sincelifting/swiveling drive R₁ to R₆ can thereby be used in a very universalmanner.

List of Reference Numbers

[0044]1 Housing element

[0045]2 Working element

[0046]3 Lifting element

[0047]4 Lifting module

[0048]5 Linear drive

[0049]6 Primary part

[0050]7 Secondary part

[0051]8 Measuring system

[0052]9 Linear guide

[0053]10 Mass balance

[0054]11 End position switch

[0055]12 Rotational element

[0056]13 Rotational sleeve

[0057]14 Bearing element

[0058]15 Rotational drive

[0059]16 Rotational drive housing

[0060]17 Connecting plate

[0061]18 Support element

[0062]19 Spring element

[0063]20 Base plate

[0064]21 Passage

[0065] A Axis

[0066] B Axis

[0067] L_(L) Length

[0068] L_(R) Length

[0069] L₁ Length

[0070] L₂ Length

[0071] L_(H) Lifting length

[0072] R₁ to R₆ Lifting /swiveling drive

[0073] X Double arrow direction

1. Lifting/swiveling drive having a working element (2) which can moverotatably and linearly relative to at least one housing element (1),characterized in that the working element (2) is formed from at leastone lifting element (3) and at least one rotational element (12). 2.Lifting/swiveling drive having a working element (2) which can moverotatably and linearly relative to at least one housing element (1),characterized in that the working element (2) is formed from at leastone lifting element (3) and at least one rotational element (12), thelifting element (3) being decoupled relative to a rotative movement ofthe rotational element (12).
 3. Lifting/swiveling drive having a workingelement (2) which can move rotatably and linearly relative to at leastone housing element (1), characterized in that the working element (2)is formed from at least one lifting element (3) and at least onerotational element (12), the rotational element (12) interacting with atleast one rotational drive (15) and the lifting element (3) interactingwith at least one linear drive (5).
 4. Lifting/swiveling drive having aworking element (2) which can move rotatably and linearly relative to atleast one housing element (1), characterized in that the working element(2) is formed from at least one lifting element (3) and at least onerotational element (12), the lifting element (3) and the rotationalelement (12) being rotatively decoupled and arranged linearly one behindthe other or coaxially one in the other or at least partially parallelnext to each other.
 5. Lifting/swiveling drive according to at least oneof claims 1 to 4, characterized in that a measuring system (8) isassigned in each case to the working element (2), in particular to thelifting element (3) and rotational element (12).
 6. Lifting/swivelingdrive according to at least one of claims 3 to 5, characterized in thatthe lifting element (3) adjoins the rotational element (12) in anaxially moveable and radially rotationally fixed manner, the rotationalelement (12) being moveable within a rotational drive (15) rotativelyrelative to the lifting element (3) and the rotational drive (15) beingfixed relative to the housing element (1, 16).
 7. Lifting/swivelingdrive according to claim 5 or 6, characterized in that lifting element(3) and rotational element (12) are arranged one behind the other in acommon axis (A) or next to each other in two parallel axes (A, B). 8.Lifting/swiveling drive according to at least one of claims 1 to 7,characterized in that the lifting element (3) and/or the rotationalelement (12) is mounted resiliently relative to the housing element (1)by means of at least one energy-storing element (10/19), in particularspring element, in particular in order to realize a balancing of themasses and therefore for relieving the load on the linear drive (5). 9.Lifting/swiveling drive according to at least one of claims 1 to 8,characterized in that the rotational element (12) is assigned arotational sleeve (13) and the latter is assigned a rotational drive(15), the rotational sleeve (13) being moveable linearly and/orrotatively relative to the rotational drive (15).
 10. Lifting/swivelingdrive according to claim 9, characterized in that the rotational sleeve(13) is designed as a secondary part (7) of the rotational drive (12).11. Lifting/swiveling drive according to at least one of claims 3 to 10,characterized in that the rotational drive (15) is connected fixedly toa rotational drive housing (16) or housing element (1). 12.Lifting/swiveling drive according to at least one of claims 9 to 10,characterized in that the rotational drive (15) is arranged withinand/or outside the rotational sleeve (13), and the rotational sleeve(13) is moveable linearly and rotatively relative to the rotationaldrive (12).
 13. Lifting/swiveling drive according to at least one ofclaims 3 to 9, characterized in that the lifting element (3) has alifting module (4) which is assigned at least one linear drive (5), thelifting module (4) being moveable axially relative to the linear drive(5).
 14. Lifting/swiveling drive according to claim 13, characterized inthat the linear drive (5) is fixed relative to the housing element (1),and the lifting module (4) is arranged within and/or outside the lineardrive (5).
 15. Lifting/swiveling drives according to at least one ofclaims 1 to 14, characterized in that the lifting element (3) isadjoined by a rotational drive housing (16) in which the rotationaldrive (15) is arranged, the rotational element (12), in particular therotational sleeve (13), being decoupled rotatively relative to thelifting element (3), in particular relative to a lifting module (4), viaat least one bearing element (14), and the rotational element (12) beingmovable linearly by means of the lifting module (4). 16.Lifting/swiveling drive according to at least one of claims 13 to 15,characterized in that the lifting module (4) is designed as a tubularelement, rectangular tube, square tube, polygonal tube or the like,which is assigned at least one linear guide (9) and at least one linearmeasuring system (8).
 17. Lifting/swiveling drive according to at leastone of claims 1 to 16, characterized in that rotational elements (12)and lifting module (4) are designed as hollow shaft elements and form anaxial passage (21).